AP_ADSB: create frontend/backend split

libraries/AP_ADSB/AP_ADSB.cpp

@@ -23,6 +23,7 @@
 #include "AP_ADSB.h"
 
 #if HAL_ADSB_ENABLED
+#include "AP_ADSB_uAvionix_MAVLink.h"
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <stdio.h>  // for sprintf
 #include <limits.h>
@@ -203,6 +204,16 @@ void AP_ADSB::init(void)
         }
         in_state.list_size_allocated = in_state.list_size_param;
     }
+
+    if (_backend == nullptr) {
+        _backend = new AP_ADSB_uAvionix_MAVLink(*this);
+
+        if (_backend == nullptr) {
+            _init_failed = true;
+            gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB: Unable to initialize ADSB driver");
+            return;
+        }
+    }
 }
 
 /*

libraries/AP_ADSB/AP_ADSB.h

@@ -34,8 +34,13 @@
 #include <AP_Common/Location.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 
+class AP_ADSB_Backend;
+
 class AP_ADSB {
 public:
+    friend class AP_ADSB_Backend;
+    friend class AP_ADSB_uAvionix_MAVLink;
+
     // constructor
     AP_ADSB();
 
@@ -235,6 +240,8 @@ private:
 
     void update_uavionix();
 
+    // reference to backend
+    AP_ADSB_Backend *_backend;
 };
 
 namespace AP {

libraries/AP_ADSB/AP_ADSB_Backend.cpp

@@ -0,0 +1,29 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_ADSB_Backend.h"
+
+#if HAL_ADSB_ENABLED
+
+/*
+  base class constructor.
+*/
+AP_ADSB_Backend::AP_ADSB_Backend(AP_ADSB &frontend) :
+    _frontend(frontend)
+{
+}
+
+#endif // HAL_ADSB_ENABLED
+

libraries/AP_ADSB/AP_ADSB_Backend.h

@@ -0,0 +1,36 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "AP_ADSB.h"
+
+#if HAL_ADSB_ENABLED
+class AP_ADSB_Backend
+{
+public:
+    // constructor.
+    AP_ADSB_Backend(AP_ADSB &frontend);
+
+
+    virtual void update() = 0;
+protected:
+
+    // references
+    AP_ADSB &_frontend;
+
+private:
+
+};
+#endif // HAL_ADSB_ENABLED

libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp

@@ -0,0 +1,27 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_ADSB_uAvionix_MAVLink.h"
+
+#if HAL_ADSB_ENABLED
+
+extern const AP_HAL::HAL& hal;
+
+void AP_ADSB_uAvionix_MAVLink::update()
+{
+
+}
+
+#endif // HAL_ADSB_ENABLED

libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.h

@@ -0,0 +1,31 @@
+#pragma once
+
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_ADSB_Backend.h"
+
+#if HAL_ADSB_ENABLED
+class AP_ADSB_uAvionix_MAVLink : public AP_ADSB_Backend {
+public:
+    using AP_ADSB_Backend::AP_ADSB_Backend;
+
+    void update() override;
+
+private:
+
+};
+#endif // HAL_ADSB_ENABLED
+